基于物理疗法轮椅式下肢康复训练系统设计

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摘  要： 針对目前下肢康复训练设备适配性差和康复训练效果不佳的现状，并结合居家日常康复的使用要求，提出一种基于传统物理康复训练关节运动轨迹的轮椅式下肢康复训练机构。详细分析了物理疗法中下肢髋-膝关节康复训练运动规律和特点，并对一个周期内不同治疗阶段进行了系统化分析;利用该规律对可实现关节运动特征的机构构型进行尺寸综合与分析，并基于该构型研制一款轮椅式下肢康复训练系统。该款下肢康复训练系统可以实现髋关节训练运动角度为：91.37°～126.51°，膝关节训练运动角度为：89.11°～135.35°。基于该构型的实验样机可以实现物理疗法所规划的运动轨迹，实际可以实现髋关节运动角度为91°～128°，膝关节运动角度为：90°～131°。该下肢康复训练系统可以模拟康复治疗的师物理治疗时的操作手法，辅助患者进行下肢康复训练，为患者提供稳定可靠的物理治疗，具有积极的社会意义和临床价值。

关键词： 下肢康复训练;物理疗法;髋-膝联动;尺寸综合

中图分类号： TP318    文献标识码： A    DOI：10.3969/j.issn.1003-6970.2019.09.006

本文著录格式：王孟，孟巧玲. 基于物理疗法轮椅式下肢康复训练系统设计[J]. 软件，2019，40（9）：27-32

Design of Wheelchair-type Lower Limb Rehabilitation Training System Based on Physical Therapy

WANG Meng， MENG Qiao-ling

（Institute of Rehabilitation Engineering & Technology， School of Medical Instrument and Food Engineering， University of Shanghai for Science and Technology， Shanghai 200093， China）

【Abstract】： Aiming at the current poor adaptability of the lower limb rehabilitation equipment and the poor effect of rehabilitation training， combined with the requirements for the daily rehabilitation of the home， this paper proposes a wheelchair-type lower limb rehabilitation training mechanism based on the traditional physical rehabilitation training of joint motion trajectory.First of all， this article analyzes the law and characteristics of hip-knee joint motion in lower limb rehabilitation in physical therapy. This article analyzes the different stages of rehabilitation in a cycle， uses this rule to perform the dimensional synthesis and analysis of mechanism configurations that can achieve joint motion characteristics， and develops a wheelchair-type lower limb rehabilitation training system based on the configurations.The lower limb rehabilitation training system can achieve a hip joint training angle of 91.37°～126.51°， knee joint training movement angle of 89.11°～135.35°. The experimental prototype based on this configuration can realize the trajectory planned by physical therapy. Actually， the hip joint movement angle can be 91°～128°， and the knee joint movement angle is 90°～131°.The lower limb rehabilitation training system can simulate the operation method of the physical therapy of the rehabilitation therapy， assist the patient to perform the lower limb rehabilitation training， provide stable and reliable physical therapy for the patient， and has positive social significance and clinical value.